Takagi-Sugeno fuzzy Models, Robust Control, Operating Region, Position Feedback, Control Signal Saturation
Abstract
This paper addresses three common issues in the control of mechanical systems: the presence of nonlinearities and uncertainties in the model, partial access to state variables, and saturation in the control signal. To deal with nonlinearities and uncertainties, fuzzy Takagi-Sugeno (T-S) models are used. The model’s representation of nonlinear dynamics occurs in an expanded operating region, which also considers saturation limits in the control signal. Only position variables are measured to implement the controller. The control design is robust and based on Linear Matrix Inequalities (LMIs), incorporating operating region, control signal saturation, decay rate, and feedback gain norm constraints. A practical implementation on a 2 DOF (Degree of Freedom) ball balancer system validates the approach.
